Now the new method is fully working. Also sped up things a bunch.
Working on new method for occlusion finding. Something's still a bit messed up.
Got new occluded points finding algorithm working. Wrote some code to create pointclouds that are colored based on kinfu weights.
In the midst of tuning/improving/speeding up the occlusion finding. There's some weirdness with the cluster extraction finding really large, illogical clusters.
Worked on adding more command-line options. Spent some time tweaking parameters for occlusion-finding. Speed seems to mostly be determined by how much downsampling occurs in plane_recognition.cpp. Goodness of occlusion finding depends a lot on the cluster_tolerance argument used in cluster_extraction.cpp. Smaller tolerance --> smaller clusters. We'll have to play with this.
Integrated the 'low weight' (e.g. weight < 50) voxels as occluded points. Causes a bit of a performance hit (.1-.2 seconds) and doesn't really change the gaussians too much, but does make the approach a bit more principled. Also, the plane fitting isn't really much of a bottleneck anymore. Current time breakdown (for a very large cloud) is: convert tsdf - 1.4s, extract clusters - 0.95s, find occluded regions - 0.59s. Might try to improve cluster extraction next.